#ifndef __STANLEY_H__
#define __STANLEY_H__

#include "controller/controller_base.h"

class Stanley: public ControllerBase{
    public:
        Stanley();
        ~Stanley();

        // 计算局部目标点的速度
        // mc::status computeTwist(geometry_msgs::PoseStamped goal, geometry_msgs::Twist curr_vel, geometry_msgs::Twist& cmd_vel);
        mc::status computeTwist(mc::TrajectoryPoint2D goal, geometry_msgs::Twist curr_vel,
            geometry_msgs::Twist& cmd_vel);

    private:
        double k_;
        double kpLinear_;   //线速度 
};

#endif